Closed-Loop Trajectory Tracking Control for Continuum Robots: An MPC-based Approach

摘要

One of the major advantages of continuum robots is their high flexibility, which has garnered significant attention in recent years. However, compared to traditional rigid robots, continuum robots generally exhibit lower motion precision. In this study, we established a kinematic model of the designed structure based on the constant curvature assumption. The nonlinear kinematic model was then linearized and discretized. A trajectory tracking control algorithm based on model predictive control (MPC) was designed, and tracking experiments were conducted to validate the effectiveness of the closed-loop control method. Experimental results demonstrate that the designed manipulator, under the control of the proposed controller, achieves high tracking precision. These findings further confirm the necessity of closed-loop control in the surgical applications of continuum robots.